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Single nanotube array based nano encoders

Single nanotube array based nano encoders

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2005 IEEE/RSJ International Conference on intelligent Robots and systems

作者： Lixin Dong A. Subramanian B.J. Nelson Yu Sun Institute of Robotics and Intelligent Systems ETH-Swiss Federal Institute of Technology Zürich Zurich Switzerland Department of Mechanical and Industrial Engineering University of Toronto Toronto Canada

Linear encoders for nanoscale position sensing based on single carbon nanotube (CNT) arrays are presented. Vertically aligned single multi-walled carbon nanotubes (MWNTs) are realized using a combination of e-beam lithography and plasma-enhanced chemical vapour deposition (PECVD) growth. Electron beam lithography is used to define 50-150 nm nickel catalyst dots at precise locations on a silicon chip. Precise control of the position, density and alignment of the tubes has been achieved. Aligned nanotube arrays with spacing varying from 250 nm to 25 /spl mu/m are realized. Field emission properties of the array are investigated inside a scanning electron microscope (SEM) equipped with a 3-DOF nanorobotic manipulator with nanometer resolution functioning as a scanning anode. With this scanning anode and the single MWNT array, a nano encoder is investigated experimentally. Vertical position is detected by the change in emission current, whereas the horizontal position of the scanning anode is sensed from the emission distribution. A resolution of 98.3 nm in the vertical direction and 38.0 nm (best: 12.9 nm) in the lateral direction has been achieved.

关键词： Anodes Carbon nanotubes Lithography Scanning electron microscopy Plasma chemistry Plasma density Chemical vapor deposition Electron beams Nickel Silicon

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Dielectrophoretic micro/nanoassembly with microtweezers and nanoelectrodes

Dielectrophoretic micro/nanoassembly with microtweezers and ...

引用

International Conference on Advanced robotics (ICAR)

作者： A. Subramanian B. Vikramaditya B.J. Nelson D. Bell Lixin Dong Institute of Robotics and Intelligent Systems Swiss Federal Institute of Technology Zurich Switzerland Seagate Technologies Inc. Bloomington MN USA IRIS ETH Zurich Switzerland

The contact phase of an assembly task involving micro and nano-sized building blocks is complicated by the presence of surface and intermolecular forces such as electrostatic, surface-tension and Van der Waals forces. Assembly strategies must account for the presence of these forces in order to guarantee successful repeatable micro and nanoassembly with high precision. In this paper, a detailed model is presented for the electrostatic interactions at these scales and qualitatively analyzed. Based on the results of this analysis, dielectrophoretic assembly principles of MEMS/NEMS devices are proposed and experimentally verified with microtweezers for microscale Ni parts and with nanoelectrodes fabricated by electron-beam lithography for carbon nanotube assembly. The successful manipulation and assembly of carbon nanotubes using dielectrophoretic forces produced by nanoelectrodes will lead to a higher integration of CNTs into both nanoelectronics and NEMS

关键词： Dielectrophoresis Nanoelectromechanical systems Carbon nanotubes Electrostatics Iris Telephony Micromechanical devices Robotic assembly Path planning Self-assembly

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An experimentation on creating a mental state transition network

An experimentation on creating a mental state transition net...

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International Conference on information and Automation (ICIA)

作者： Hua Xiang F. Ren S. Kuroiwa Peilin Jiang Department of Information Science and Intelligent Systems University of Tokushima Tokushima Japan Institute of Artificial Intelligence and Robotics Xi''an Jiaotong University Xi'an Shanxi China

Studies on the model of artificial psychology are the first step in the development of human-computer interaction. As affective computing remains unpredictable, creating a reasonable mental model becomes the primary task for building a hybrid system. A pragmatic mental model is also the fundament of some key topics such as recognition and synthesis of emotions. In this paper a mental state transition network is presented and a psychological experiment based on the model is carried out. In this work, we hypothesize that internal mental movements of a human depend on a mental state transition network that is made up of seven discrete emotional states. And we propose a new method to predict the emotional transitional probability distribution by using psychological questionnaires. The transition probability distribution of the model is calculated through a psychological experiment and the model provided a relatively high precision rate of 0.872 for the 50 random data examples used in an experimentation.

关键词： Humans Psychology Cognitive science Hidden Markov models Artificial intelligence intelligent robots Emotion recognition Probability distribution Computational modeling Computer simulation

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Tsunami monitoring system by stratospheric LTA platform

Tsunami monitoring system by stratospheric LTA platform

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AIAA 5th Aviation technology, Integration, and Operations Conference, ATIO and the AIAA 16th Lighter-than-Air systems technology Conference and Balloon systems Conference

作者： Koyama, Noboru Onda, Masahiko Sasaki, Yasunori Miura, Ryu Akinaga, Wakoto International Meteorological and Oceanographic Consultant Co. Ltd. Tokyo Japan National Institute of Advanced Industrial Science and Technology Tsukuba Ibaragi Japan National Defense Academy Yokosuka Kanagawa Japan National Institute of Information and Communications Technology Yokosuka Kanagawa Japan NEC Toshiba Space Systems Co. Ltd. Tokyo Japan Engineering Division Intelligent Systems Research Institute AIAA Department of Earth and Ocean Sciences Wireless Innovation System Group Sales and Marketing Division

ISBN: (纸本)1563477408

Tsunamis break out due to an oceanic earthquake or landslide and are propagated to far distant coasts at a very high speed resulting in serious damages to the coastal populations. This paper proposes a full-fledged advanced tsunami monitoring system which detects outbreaks of tsunamis and immediately disseminates alarm signals directly to the coastal populations from stationary LTA (Lighter-Than-Air) platforms positioned in the stratosphere over undersea epicenter areas. These platforms could also be used for other missions such as local weather observation, naval traffic monitoring etc., thus could be operated more economically than conventional tsunami monitoring and warning systems. Copyright © 2005 by the American institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： Tsunamis

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Three Characterizations of 3D Reconstruction Uncertainty with Bounded Error

Three Characterizations of 3D Reconstruction Uncertainty wit...

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IEEE International Conference on robotics and Automation (ICRA)

作者： B. Telle O. Stasse K. Yokoi T. Ueshiba F. Tomita AIST/ISRI 3D Vision Group Intelligent Systems Research Institute (ISRI) National Institute for Advanced Industrial Science and Technology Tsukuba Ibaraki Japan AIST/IS-CNRS/STIC Joint Japanese-French Robotics Laboratory (JRL) Intelligent Systems Research Institute (ISRI) National Institute for Advanced Industrial Science and Technology Tsukuba Ibaraki Japan

Considering a stereoscopic visual system, this paper deals with the error involved by a 3D reconstruction process. If image pixels are seen as surfaces instead of points, interval analysis provides bounding boxes in which the reconstructed 3D point lies with certainty. This paper presents a method which refine this bounding box and gives a tighter approximation of the error. Using bisection, and a reprojection test in the image planes, the space in which the 3D reconstructed point may be located is given as an octree. This is achieved through the resolution of a set inversion problem using the SIVIA algorithm. For a lighter manipulation of the result, an englobing ellipsoid is deduced from this approximation. Finally the three models are tested on a recognition process for a humanoid robot.

关键词： Uncertainty Image reconstruction Cameras Ellipsoids Robot vision systems intelligent robots Testing Gaussian distribution Shape Service robots

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Peculiarity oriented multi-aspect brain data analysis for studying human multi-perception mechanism

Peculiarity oriented multi-aspect brain data analysis for st...

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2005 Symposium on Applications and the Internet Workshops, SAINT2005

作者： Zhong, Ning Motomura, Shinichi Wu, Jing-Long Dept. of Information Eng. Maebashi Institute of Technology 460-1 Kamisadori-Cho Maebashi-City 371-0816 Japan Dept. of Intelligent Mechanical Systems Kagawa University Hayashi-Cho 2217-20 Takamatsu City Kagawa 760-8526 Japan

ISBN: (纸本)0769522637

In order to investigate the structure of advanced human brain activities, various brain analysis methods are required. It has been observed that multiple brain data such as fMRI brain images and EEG brain waves extractedfrom human multi-perception mechanism involved in a particular task are peculiar ones with respect to the specific state or the relatedpart of a stimulus. Based on this point of view, we propose a way of peculiarity oriented mining for multi-aspect analysis in multiple human brain data, without using conventional image processing to fMRI brain images and frequency analysis to brain waves. The proposed approach provides a new way for automatic analysis and understanding of human brain data to replace human-expert centric visualization. We attempt to change the perspective of cognitive scientistsfrom a single type of experimental data analysis towards a holistic view. © 2005 IEEE.

关键词： Brain models

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Auto-calibration system, of EMG sensor suit

Auto-calibration system, of EMG sensor suit

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Optomechatronic Sensors and Instrumentation

作者： Suzuki, Yousuke Tanaka, Takayuki Feng, Maria Q. Department of Mechanical Engineering and Intelligent Systems University of Electro-Communications 1-5-1 Chofugaoka Chofu Tokyo Japan Graduate School of Information and Science Technology Hokkaido University Kita 14 Nishi 9 Kita-ku Sapporo Hokkaido Japan California Institute of Telecommunications and Information Technology University of California Irvine E/4130 Engineering Gateway Irvine CA United States

Biogenic measurement has been studied as a robot's interface. We have studied the wearable sensor suit as a robot's interface. Some kinds of sensor disks are embedded the sensor suit to the wet suit-like material. The sensor suit measures a wearing person's joint, and muscular activity. In this report, we aim to establish an auto-calibration system for measuring joint torques by using EMG sensors based on neural network and sensor disks of a lattice. The Torque presumption was performed using the share neural network, which learned the data that formed the whole subject's teacher data. Additional training of the share neural network was carried out using the individual teaching data. As a result, that was able to do the neural network training in short time, high probability and high accuracy to training of initial neural network. Moreover, high-presumed accuracy was able to be acquired by this method Next, Sensor disks of a lattice was developed. EMG is measurable, checking the state of an electrode by that can measure biogenic impedance. That was able to measure EMG by sensor disks which has low impedance We measured EMG and joint torque by trial production sensor suit and torque measuring instrument. The predominancy of the torque presumption using the share neural network was check. We proposed Measurement system, which consists sensor disk of lattice. Experimental results show the proposed method is effective for the auto-calibration.

关键词： Electromagnetic waves

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Peculiarity Oriented Multi-Aspect Brain Data Analysis for Studying Human Multi-Perception Mechanism

Peculiarity Oriented Multi-Aspect Brain Data Analysis for St...

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Workshops on Applications and the Internet (SAINT)

作者： Ning Zhong S. Motomura Jing-Long Wu Department of Information Engineering Maebashi Institute of Technology Maebashi Japan Department of Intelligent Mechanical Systems Kagawa University Takamatsu Kagawa Japan

In order to investigate the structure of advanced human brain activities, various brain analysis methods are required. It has been observed that multiple brain data such as fMRI brain images and EEG brain waves extracted from human multi-perception mechanism involved in a particular task are peculiar ones with respect to the specific state or the relatedpart of a stimulus. Based on this point of view, we propose a way of peculiarity oriented mining for multi-aspect analysis in multiple human brain data, without using conventional image processing to fMRI brain images and frequency analysis to brain waves. The proposed approach provides a new wayfor automatic analysis and understanding of human brain data to replace human-expert centric visualization. We attempt to change the perspective of cognitive scientists from a single type of experimental data analysis towards a holistic view.

关键词： Data analysis Humans Electroencephalography Data mining Image analysis Brain modeling Frequency information processing intelligent systems intelligent structures

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An optimization algorithm for imprecise multi-objective problem functions

An optimization algorithm for imprecise multi-objective prob...

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Congress on Evolutionary Computation

作者： P. Limbourg D.E.S. Aponte Institute of Information Technology Faculty of Engineering University of Duisburg-Essen Germany Institute of Intelligent Systems and Numerical Applications in Engineering Division of Evolutionary Computation and Applications University of Las Palmas Spain

Real world objective functions often produce two types of uncertain output: noise and imprecision. While there is a distinct difference between both types, most optimization algorithms treat them the same. This paper introduces an alternative way to handle imprecise, interval-valued objective functions, namely imprecision-propagating MOEAs. Hypervolume metrics and imprecision measures are extended to imprecise Pareto sets. The performance of the new approach is experimentally compared to a standard distribution-assuming MOEA

关键词： Uncertainty Working environment noise Sampling methods Measurement errors information technology intelligent systems Evolutionary computation Optimization methods Random processes Environmental factors

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Pivoting Manipulation of a Large Object: A Study of Application using Humanoid Platform

Pivoting Manipulation of a Large Object: A Study of Applicat...

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IEEE International Conference on robotics and Automation (ICRA)

作者： E. Yoshida P. Blazevic V. Hugel AIST/IS-CNRS/STIC Joint French-Japanese Robotics Laboratory (JRL) Intelligent Systems Research Institute National Institute for Advanced Industrial Science and Technology Tsukuba Ibaraki Japan AIST/IS-CNRS/STIC Joint French-Japanese Robotics Laboratory (JRL) LRV-Versailles Robotics Laboratory Velizy-Villacoublay France

Pivoting manipulation can be an alternative to pushing operation when the floor is not flat enough, or when the object to manipulate is too heavy. The technique of pivoting is used by humans to move large and bulky furniture from one place to another. The decomposition of the task of pivoting has already been studied, in particular with the use of two fingers of a robotic arm. This work intends to apply the technique of pivoting using an humanoid platform. The robot should be able to pivot the object and to walk with it to displace it to a specific remote location. The research achievements proposed here take place in a more long term objective aimed at improving the dexterity and the autonomy of humanoid robots. As a matter of fact, such robots should be able to handle objects and move around in the environment in an autonomous way. This paper describes the algorithm designed to perform the displacement of a large object using the pivoting technique. It also presents the results of the dynamic simulation and the results of the real hardware experiment of the HRP-2 platform performing the task.

关键词： Humanoid robots Legged locomotion intelligent robots Humans Hardware intelligent systems Fingers Algorithm design and analysis Prototypes Manipulators

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